imu相机标定_相机+imu标定

官方上是跑在ros indigo上的，但是实测用kinetic也没问题，主要就是装依赖的时候改下名字(下面命令行里有写注释)

1 工具箱 Kalibr 安装

安装依赖

sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-kinetic-vision-opencv ros-kinetic-image-transport-plugins ros-kinetic-cmake-modules python-software-properties software-properties-common libpoco-dev python-matplotlib python-scipy python-git python-pip ipython libtbb-dev libblas-dev liblapack-dev python-catkin-tools libv4l-dev # 注意把官网的indigo换成kinetic

sudo pip install python-igraph --upgrade # 这个一开始没装，后来使用过程中提示少igraph

新建一个workspace，或者在已存在的workspace中进行

cd src/

git clone https://github.com/ethz-asl/Kalibr.git

build(这步久一点)

cd

catkin build -DCMAKE_BUILD_TYPE=Release -j4

source

source ~/kalibr_workspace/devel/setup.bash

2 使用Kalibr标定

相机标定(以只标定1个came